Note: Descriptions are shown in the official language in which they were submitted.
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ROBOTIC CLEANER WITH AIR JET ASSEMBLY
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] The
present application claims the benefit of U.S. Provisional Application Serial
No. 62/884,303 filed on August 8, 2019, entitled Robotic Vacuum with Air Jet
Assembly,
which is fully incorporated herein by reference.
TECHNICAL FIELD
[0002] The
present disclosure generally relates to surface cleaning apparatuses, and
more particularly, to a robotic cleaner configured to generate an air jet.
BACKGROUND INFORMATON
[0003] The
following is not an admission that anything discussed below is part of the
prior art or part of the common general knowledge of a person skilled in the
art.
[0004] A
surface cleaning apparatus may be used to clean a variety of surfaces. Some
surface cleaning apparatuses include a rotating agitator (e.g., brush roll).
One example of a
surface cleaning apparatus includes a vacuum cleaner which may include a
rotating agitator
and a suction motor. Non-limiting examples of vacuum cleaners include robotic
vacuums,
multi-surface robotic cleaners (e.g., a robotic cleaner capable of generating
a vacuum and
performing a mopping function), upright vacuum cleaners, canister vacuum
cleaners, stick
vacuum cleaners, and central vacuum systems. Another type of surface cleaning
apparatus
includes a powered broom which includes a rotating agitator (e.g., a brush
roll) that collects
debris, but does not include a vacuum source.
[0005] Within
the field of robotic/autonomous cleaning devices, there are a range of
form factors and features that have been developed to meet a range of cleaning
needs. However,
certain cleaning applications remain a challenge. For example, cleaning along
vertical surfaces
(e.g., along walls or windows) and within corners may be difficult for robotic
cleaning devices.
Effectively cleaning along such vertical surfaces while also being capable of
reaching into
corners raises numerous non-trivial design issues as well as navigational
complexities to avoid
robotic cleaners getting stuck/obstructed.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] These
and other features advantages will be better understood by reading the
following detailed description, taken together with the drawings wherein:
[0007] FIG. 1
is a top perspective view of a robotic cleaner, consistent with
embodiments of the present disclosure.
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[0008] FIG. 2
is a side view of the robotic cleaner of FIG. 1, consistent with
embodiments of the present disclosure.
[0009] FIG. 3
is a top view of the robotic cleaner of FIG. 1, consistent with
embodiments of the present disclosure.
[0010] FIG. 4
is front view of the robotic cleaner of FIG. 1, consistent with
embodiments of the present disclosure.
[0011] FIG. 5
is a bottom view of the robotic cleaner of FIG. 1, consistent with
embodiments of the present disclosure.
[0012] FIG. 6
is a perspective view of an example ducting system capable of being
used with the surface cleaning apparatus of FIG. 1, consistent with
embodiments of the present
disclosure.
[0013] FIG. 7
is a cross-sectional view of a portion of a robotic cleaner that includes
the ducting system of FIG. 6, consistent with embodiments of the present
disclosure.
[0014] FIG. 8
is a cross-sectional view of a robotic cleaner that includes the ducting
system of FIG. 6, consistent with embodiments of the present disclosure.
[0015] FIG. 9A
is a side view of a plurality of example of nozzles that may be used
with air jet assemblies, consistent with embodiments of the present
disclosure.
[0016] FIG. 9B
is a perspective view of the nozzles of FIG. 9A, consistent with
embodiments of the present disclosure.
[0017] FIG. 10A
is a top view of a plurality of example nozzles that may be used with
air jet assemblies, consistent with embodiments of the present disclosure.
[0018] FIG. 10B
is a bottom view of the nozzles of FIG. 10A, consistent with
embodiments of the present disclosure.
[0019] FIG. 11A
is a bottom view of a plurality of example nozzles that may be used
with air jet assemblies, consistent with embodiments of the present
disclosure.
[0020] FIG. 11B
is a perspective side view of the nozzles of FIG. 11A, consistent with
embodiments of the present disclosure.
[0021] FIG. 12
is a front view of a robotic cleaner, consistent with embodiments of the
present disclosure.
[0022] FIG. 13
is a top view of the robotic cleaner of FIG. 12, consistent with
embodiments of the present disclosure.
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[0023] FIG. 14
is a bottom perspective view of a portion of a robotic cleaner that
includes a fan assembly, consistent with embodiments of the present
disclosure.
[0024] FIG. 15A
is a magnified view of a portion of an example of the robotic cleaner
of FIG. 14 having a nozzle attachment, consistent with embodiments of the
present disclosure.
[0025] FIG. 15B
shows a perspective view of the robotic cleaner of FIG. 15A, wherein
the robotic cleaner includes a plurality of nozzle attachments, consistent
with embodiments of
the present disclosure.
[0026] FIG. 16
is a magnified view of a portion of a robotic cleaner having an air jet
assembly that includes a nozzle attachment, consistent with embodiments of the
present
disclosure.
[0027] FIG. 17A
is a perspective view of a vent that may be used as a component of an
air jet assembly, consistent with embodiments of the present disclosure.
[0028] FIG. 17B
is a perspective view of a portion of a robotic cleaner having the vent
of FIG. 17A, consistent with embodiments of the present disclosure.
[0029] FIG. 18
is a schematic view of a robotic cleaner that includes a ducting system,
consistent with embodiments of the present disclosure.
[0030] FIG. 19
is a flow chart of one example of an algorithm for determining when to
generate an air jet using a corresponding air jet assembly, consistent with
embodiments of the
present disclosure.
[0031] FIG. 20
is a schematic example of a robotic cleaner, consistent with
embodiments of the present disclosure.
[0032] The
drawings included herewith are for illustrating various examples of articles,
methods, and apparatuses of the teaching of the present specification and are
not intended to
limit the scope of what is taught in any way.
DETAILED DESCRIPTION
[0033] The
present disclosure is generally directed to a robotic cleaner. The robotic
cleaner includes a body, an agitator chamber extending along an underside of
the body, a
suction motor configured to draw air into the agitator chamber, and an air jet
assembly coupled
to the body. The air jet assembly is configured to shape and direct air
passing therethrough,
generating an air jet. The air jet is configured to agitate debris adjacent to
and/or adhered on a
vertical surface (e.g., a wall or other obstacle extending from a floor), edge
(e.g., a drop off,
such as a staircase), and/or a corner defined at an intersection of two
vertical surfaces. The air
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jet may be further configured to urge at least a portion of the agitated
debris towards the agitator
chamber such that at least a portion of the agitated debris may be drawn into
the agitator
chamber. As such, the air jet can generally be described as being configured
to dislodge debris
from one or more surfaces located outside of a movement path of the agitator
chamber,
increasing an effective cleaning width of the robotic cleaner. Such a
configuration may allow
the robotic cleaner to clean one or more surfaces that would be otherwise
difficult for the
robotic cleaner to clean as a result of, for example, a size and/or shape of
the robotic cleaner.
[0034] The air
jet assembly may include a nozzle having a nozzle inlet and a nozzle
exit. The nozzle inlet may be fluidly coupled to one or more of an exhaust of
the suction motor
and/or a powered fan assembly such that the exhaust of the suction motor
and/or the powered
fan assembly causes a positive pressure to be generated at the nozzle exit.
The nozzle inlet and
the nozzle exit may be configured to have a different geometry and/or size.
For example, the
nozzle inlet may be larger than the nozzle exit such that a velocity of air
flowing through the
nozzle increases.
[0035]
Additionally, or alternatively, the air jet assembly may include a vent. The
vent
may include one or more louvers configured shape and/or direct air passing
through the vent
into an air jet. The vent may be positioned such that the generated air jet
extends beyond an
outer perimeter of the robotic cleaner. Such a configuration may allow the
generated air jet to
be incident on a vertical surface proximate to the robotic cleaner.
[0036] Although
the present disclosure specifically references floor-based robotic
cleaning devices, this disclosure is not necessarily limited in this regard.
Aspects and
embodiments disclosed herein are equally applicable to hand held cleaning
devices.
[0037] As used
herein, the term "air jet assembly" may generally refer to one or more
components, wherein one or more of the one or more components are configured
to shape,
direct, and/or introduce a velocity change to (e.g., increase a velocity of)
air moving
therethrough. In some instances, a portion of the air jet assembly
extends/projects from a body
of a robotic cleaner.
[0038] As used
herein, the term "air jet" may generally refer to an airflow that has been
modified (e.g., shaped, directed, and/or caused to undergo to a velocity
change) by flowing
through an air jet assembly. The term air jet is not intended to limit the air
jet assembly to a
particular shape or configuration.
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[0039] As
generally referred to herein, the term surface to be cleaned generally refers
to a surface on which a robotic cleaning apparatus travels, such as a floor.
As may be
appreciated, one or more air jet assemblies may also allow the robotic
cleaning apparatus to
clean a surface that extends transverse to the surface to be cleaned such as a
wall or other
obstacle.
[0040] Various
apparatuses or processes will be described below to provide an example
of an embodiment of each claimed invention. No embodiment described below
limits any
claimed invention and any claimed invention may cover processes or apparatuses
that differ
from those described below. The claimed inventions are not limited to
apparatuses or processes
having all of the features of any one apparatus or process described below or
to features
common to multiple or all of the apparatuses described below. It is possible
that an apparatus
or process described below is not an embodiment of any claimed invention. Any
invention
disclosed in an apparatus or process described below that is not claimed in
this document may
be the subject matter of another protective instrument, for example, a
continuing patent
application, and the applicants, inventors or owners do not intend to abandon,
disclaim or
dedicate to the public any such invention by its disclosure in this document.
[0041]
Referring to FIGS. 1-5, an example of a robotic cleaner 100 (e.g., a robotic
vacuum cleaner), consistent with embodiments of the present disclosure, is
shown and
described. Although a particular embodiment of a robotic cleaner is shown and
described
herein, the concepts of the present disclosure may apply to other types
robotic cleaners,
including, for example, robotic multi-surface cleaners and robotic mops.
[0042] The
robotic cleaner 100 includes a housing (or body) 110 with a front side 112,
and a back side 114, left and right sides 116a, 116b, an upper side (or top
surface) 118, and a
lower side or underside (or bottom surface) 120. In some instances, a bumper
111 may be
movably coupled to the housing 110 such that the bumper 111 extends around at
least a portion
of the housing 110 (e.g., a front portion and/or front half of the housing
110). The top surface
118 of the housing 110 may include controls 102 (e.g., buttons) to initiate
certain operations,
such as autonomous cleaning, spot cleaning, and docking and indicators (e.g.,
LEDs) to
indicate operations, battery charge levels, errors, and other information. The
robotic cleaner
100 may further include one or more air jet assemblies (not shown), which are
discussed in
further detail below. The air jet assemblies may be fluidly coupled to one or
more air ducts or
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outlets of the robotic cleaner 100 (e.g., clean air outlets, air outlet ports,
fan outlets, clean air
exhaust ducts, or exhaust ducts).
[0043] In the
illustrated example embodiment, and as shown in FIG. 5, the housing 110
further includes a suction conduit 128. The suction conduit 128 includes an
agitator chamber
101 having an opening 127 on the underside 120 of the housing 110. The
agitator chamber 101
includes (e.g., defines) a dirty air inlet (not shown) that is fluidly coupled
to a suction motor
(not shown) of the robotic cleaner 100. The opening 127 can be described as
defining an open
end of the suction conduit 128 through which air is drawn by the suction
motor. At least a
portion of the agitator chamber 101 may be defined by the housing 110. For
example, the
agitator chamber 101 may be defined by a cavity of the housing 110, wherein
the cavity
includes the opening 127.
[0044] A debris
collector 119, such as a removable dust bin, is located in or integrated
with the housing 110. The debris collector 119 can be disposed within the
suction conduit 128
at a position between the agitator chamber 101 and the suction motor. As such,
at least a
portion of debris entrained within air flowing into the debris collector 119
may be collected
within the debris collector 119.
[0045] The
robotic cleaner 100 may also include one or more clean air outlets 121. The
one or more clean air outlets 121 may be fluidly coupled to the suction
conduit 128. For
example, the suction motor may be disposed at location along the suction
conduit 128 that is
between the one or more clean air outlets 121 and the debris collector 119.
Additionally, or
alternatively, one or more powered fan assemblies may be fluidly coupled to
the one or more
clean air outlets 121. For example, the suction motor may be fluidly coupled
to a first inlet of
the clean air outlets 121 and the fan assembly may be fluidly coupled to a
second inlet of the
clean air outlets 121. As shown, the one or more clean air outlets 121 can be
disposed on the
underside 120 of the housing 110.
[0046] The
suction conduit 128 may include any suitable combination of rigid
conduits, flexible conduits, chambers, and/or other features that may
cooperate to direct a flow
of air through the robotic cleaner 100. Optionally, one or more filters or
filtration members, for
example a high efficiency particulate air (HEPA) filter, can be configured
such that air traveling
through the suction conduit 128 passes through the one or more filters prior
to the one or more
clean air outlets 121. The one or more clean air outlets 121 may be configured
to fluidly connect
to one or more air jet assemblies.
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[0047] In one
embodiment, the robotic cleaner 100 may also include one or more
cavities on the underside 120 of the housing 110. The one or more cavities
include one or more
fan outlets. The one or more fan outlets are fluidly coupled to a secondary
air inlet (not shown)
such that an air path extends from the secondary air inlet to the one or more
fan outlets. The air
path may include any suitable combination of rigid conduits, flexible
conduits, chambers,
and/or other features that may cooperate to direct a flow of air through the
robotic cleaner. The
one or more fan outlets may be may be configured to fluidly connect to one or
more air jet
assemblies.
[0048] The one
or more air jet assemblies may include one or more nozzles configured
to generate air jets when air passes therethrough, as described in further
detail herein. The
nozzle may be configured to be articulable such that an angle formed between a
surface to be
cleaned and an air jet generated by the nozzle can be adjusted. In some
instances, the nozzles
may be self-articulating (e.g., in response to actuation of one or more
articulation motors
controlled by, for example, a controller 136).
[0049] The
robotic cleaner 100 may include a rotating agitator 122 (e.g., a main brush
roll). The rotating agitator 122 rotates about a substantially horizontal axis
to urge debris
towards the debris collector 119. The rotating agitator 122 is at least
partially disposed within
the agitator chamber 101 of the suction conduit 128. The rotating agitator 122
may be coupled
to a motor 123, such as an AC or DC motor, to impart rotation to the rotating
agitator 122 by
way of, for example, one or more drive belts, gears, and/or any other driving
mechanism.
[0050] The
rotating agitator 122 may have bristles, fabric, or other cleaning elements,
or any combination thereof around the outside of the agitator 122. The
rotating agitator 122
may include, for example, strips of bristles in combination with strips of a
rubber or elastomer
material. The rotating agitator 122 may also be removable to allow the
rotating agitator 122 to
be cleaned more easily and allow the user to change the size of the rotating
agitator 122, change
type of bristles on the rotating agitator 122, and/or remove the rotating
agitator 122 entirely
depending on the intended application. The robotic cleaner 100 may further
include a bristle
strip 126 on an underside of the housing 110 and adjacent a portion of the
suction conduit 128
(e.g., along a periphery of the opening 127). The bristle strip 126 may
include bristles having
a length sufficient to at least partially contact the surface to be cleaned.
The bristle strip 126
may also be angled, for example, towards the agitator chamber 101 of the
suction conduit 128.
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[0051] The
robotic cleaner 100 may also include several different types of sensors. For
example, the robotic cleaner 100 may include one or more forward obstacles
sensors 140 (FIG.
4) configured to detect obstacles in a travel path of the robotic cleaner 100.
The one or more
forward obstacle sensors 140 may be integrated with and/or separate from the
bumper 111. For
example, the one or more forward obstacles sensors 140 may be configured to
cooperate with
the bumper 111 such that signals emitted from the forward obstacle sensors 140
can pass
through at least a portion of the bumper 111. The one or more forward obstacle
sensors 140
may include one or more of infrared sensors, ultrasonic sensors, time-of-
flight sensors, a
camera (e.g., a stereo or monocular camera), and/or any other sensor.
[0052] One or
more bump sensors 142 (e.g., optical switches behind the bumper) detect
contact of the bumper 111 with obstacles during operation. One or more wall
sensors 144 (e.g.,
an infrared sensor directed laterally to a side of the housing) detect a side
wall when traveling
along a wall (e.g., wall following). Cliff sensors 146a-d (e.g., infrared
sensors, time-of-flight
sensors) can be located adjacent a periphery of the underside 120 of the
housing 110 and are
configured to detect the absence of a surface on which the robotic cleaner 100
is traveling (e.g.,
staircases or other drop offs).
[0053] The
controller 136 is communicatively coupled to the sensors (e.g., the bump
sensors, wheel drop sensors, rotation sensors, forward obstacle sensors, side
wall sensors, cliff
sensors) and to the driving mechanisms (e.g., the motor 123 configured to
cause the rotating
agitator 122 to rotate, drive motor(s) 124 configured to control one or more
features of an air
jet assembly, and/or the wheel drive motors 134) for controlling movement
and/or other
functions of the robotic cleaner 100. Thus, the controller 136 can be
configured to operate the
drive wheels 130, air jet assemblies, and/or agitator 122 in response to
sensed conditions, for
example, according to known techniques in the field of robotic cleaners. The
controller 136
may operate the robotic cleaner 100 to perform various operations such as
autonomous cleaning
(including randomly moving and turning, wall following and obstacle
following), spot
cleaning, and docking. The controller 136 may also operate the robotic cleaner
100 to avoid
obstacles and cliffs and to escape from various situations where the robot may
become stuck.
The controller 136 may include any combination of hardware (e.g., one or more
microprocessors) and software known for use in mobile robots.
[0054] As shown
in FIGS. 6-8, a robotic cleaner 600 may include a suction motor 607,
a debris collector 602, an agitator chamber 604 having a dirty air inlet 606,
and internal ducting
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603. The suction motor 607 is fluidly coupled to the dirty air inlet 606 of
the agitator chamber
604, the debris collector 602, and the internal ducting 603. The suction motor
607 is configured
to generate suction within the agitator chamber 604, causing air to flow
through the dirty air
inlet 606 and the debris collector 602 and into a suction side of the suction
motor 607. The air
flowing into the suction motor 607 is exhausted from an exhaust side of the
suction motor 607
and into the internal ducting 603. The internal ducting 603 is fluidly coupled
to an air outlet
609 such that air flowing through the internal ducting 603 passes through the
air outlet 609.
The air outlet 609 may include and/or be fluidly coupled to an air jet
assembly. As such, the
positive air pressure generated on the exhaust side of the suction motor 607
may be directed
through the air outlet 609 and the air jet assembly. The agitator chamber 604,
the debris
collector 602, the suction motor 607, the internal ducting 603, and the air
outlet 609 may
generally be described as forming at least part of a suction conduit within
the robotic cleaner
600.
[0055] In some
instances (e.g., in the absence of internal ducting 603), air may be
exhausted through an exhaust port (not shown) on the robotic cleaner 600. In
this instance, an
exhaust outlet plug 601 may be used to redirect the flow of air from the
exhaust port and
through the internal ducting 603 and to the air outlet 609.
[0056] FIGS. 9A-
11B illustrate example embodiments of nozzles that may be used as
components of air jet assemblies. FIGS. 9A and 9B are schematic views of
nozzles A-G that
may be used as components of air jet assemblies consistent with embodiments of
the present
disclosure. FIG. 9A is a side view of the nozzles A-G that may be used as
components of air
jet assemblies consistent with embodiments of the present disclosure. FIG. 9B
is a perspective
view of the nozzles A-G that may be used as components of air jet assemblies
consistent with
embodiments of the present disclosure. Nozzles, when used as components of air
jet
assemblies, may be configured to regulate air flow velocity, direction, and/or
shape.
[0057] The air
jet assembly is configured to be fluidly coupled to a suction conduit of
a robotic cleaner such that air flowing through the suction conduit passes
through the air jet
assembly. A nozzle of the air jet assembly is configured to regulate a shape,
direction, and/or
velocity of air passing therethrough. For example, the nozzle may be
configured to cause a
velocity of air flowing therethrough to increase. As such, a nozzle can
generally be described
as being capable of being configured produce an air jet having desired
properties.
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[0058] The
nozzle includes a nozzle inlet 905 and a nozzle exit 901. Air flows first
through the nozzle inlet 905 and then through the nozzle exit 901 to be
exhausted into a
surrounding environment. The nozzle inlet 905 may have a different size and/or
shape than
the nozzle exit 901. For example, a size of the nozzle inlet 905 may measure
greater than a
size of the nozzle exit 901, increasing a velocity of air flowing through the
nozzle. In some
instances (e.g., as shown in nozzle D, E, F, and G), the nozzle inlet 905 and
the nozzle exit 901
may extend transverse to each other. Such a configuration may allow air
passing through the
nozzle to be directed towards a desired location.
[0059] As seen
in FIGS. 9A and 9B, different nozzles having various shapes may be
used as components of air jet assemblies. The nozzle selected as a component
in an air jet
assembly may be selected based on desired air jet properties. The size of the
nozzle exit 901
partially controls the velocity of the air defining the generated air jet as
the air leaves the nozzle
exit 901. The angle of the nozzle exit 901 relative to the nozzle inlet 905
partially controls the
velocity of the air defining the generated air jet as the air leaves the
nozzle exit 901 by
controlling the direction of air movement.
[0060] The
nozzle exit 901 can be configured to throttle the air flow. As such, an air
jet generated using a nozzle having a small nozzle exit 901 will have an air
flow that moves at
a higher velocity than an air jet generated using a nozzle having a
comparatively larger nozzle
exit 901. As seen in FIGS. 9A and 9B, nozzles C, E, and G generate an air jet
that is
comparatively narrower than nozzles A, B, D, and F. Therefore, the air
defining the air jet
generated by nozzles C, E, and G has a higher velocity than the air defining
the air jet generated
by nozzles A, B, D, and F. A higher air velocity may provide better agitation
of debris stuck
on or near walls or that is in a corner.
[0061] The
configuration, orientation, and/or position of the air jet assembly may be
such that the nozzle exit 901generates an air jet in a desired direction. For
example, air flows
into the nozzle inlet 905 according to a first direction (e.g., a direction
substantially
perpendicular to a surface to be cleaned) and flows from the nozzle exit 901
according to a
second direction (e.g., along a direction that is non-perpendicular to the
surface to be cleaned),
wherein the first direction is different from (or the same as) the second
direction. As such, the
nozzle can generally be described as being configured to adjust a flow
direction of air passing
therethrough.
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[0062]
Referring to FIGS. 9A and 9B, when the air jet assembly is positioned on an
underside of the robotic cleaner, embodiments of the air jet assembly that use
nozzles A-C
generate an air jet that is directed towards the surface to be cleaned at an
angle that is
substantially perpendicular to the surface to be cleaned. Embodiments that use
nozzles D and
E generate air jets with a flow of air that moves inboard (or outboard) at a
substantially (e.g.,
within 1 , 2 , 3 , 40, or 50 of) 45 angle. Embodiments that use nozzles F and
G generate air
jets with a flow of air that moves inboard (or outboard) at a substantially
(e.g., within 1 , 2 ,
3 , 40, or 5 of) 900 angle. In some instances, the nozzles may be further
oriented such that the
air is directed at an angle relative to the aft of the robotic cleaner. Such
an orientation would
alter the path of the air jet in relation to the surface to be cleaned such
that the air jet extends
towards an agitator chamber of the robotic cleaner.
[0063]
Additional nozzle embodiments are illustrated in FIGS. 10A-11B. FIG. 10A is
a top view of nozzles that may be used as components of air jet assemblies
consistent with
embodiments of the present disclosure. FIG. 10B is a bottom view of the
nozzles of FIG. 10A
that may be used as components of air jet assemblies consistent with
embodiments of the
present disclosure. FIG. 11A is a bottom view of nozzles that may be used as
components of
air jet assemblies consistent with embodiments of the present disclosure. FIG.
11B is a side
view of the nozzles of FIG. 11A that may be used as components of air jet
assemblies consistent
with embodiments of the present disclosure.
[0064] The
placement and angling of the nozzles may be adjusted relative to the
housing of the robotic cleaner and the agitator chamber. For example, nozzles
can be
configured to generate air jets that are directed directly at a cleaning
surface (e.g., air jets that
extend perpendicular to the cleaning surface) and/or air jets directed at a
non-perpendicular
angle relative to the cleaning surface. The nozzles can be designed to provide
different air jet
profiles. For example, the size and shape of the nozzle exits 901 produces air
jets with a variety
of properties. In some instances, the air jet assemblies can be configured to
generate vortical
air jets as air exits the nozzle. Some nozzles, as seen in FIG. 11A, have
secondary nozzle exits
902 that produce additional air jets.
[0065] FIGS. 12
and 13 show an example of a robotic cleaner 1205 having a clean air
exhaust duct 1200. The clean air exhaust duct 1200 is fluidly coupled to an
exhaust side of a
suction motor of the robotic cleaner 1205. As such, exhaust air from the
suction motor passes
through the exhaust duct 1200. The exhaust duct 1200 can be fluidly coupled to
one or more
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air jet assemblies 1204 having a nozzle configured to generate an air jet. The
nozzle can be
configured to generate an air jet that optimizes cleaning performance of the
robotic cleaner
1205. For example, the nozzle can be configured to optimize the cleaning
performance of a
cleaning robot capable of carrying out one or more of vacuuming, mopping,
cleaning of edges,
cleaning of walls, cleaning of corners, and cleaning of different surface
types (e.g., carpets or
hard floors).
[0066] As
shown, the exhaust duct 1200 may include an external portion (e.g., an
external conduit) 1201 that extends along an external surface of the robotic
cleaner 1205. In
other words, at least a portion of the exhaust duct 1200 may extend along an
external surface
of the robotic cleaner 1205. The external portion 1201 may be fluidly coupled
to the air jet
assembly 1204.
[0067] In some
instances, the one or more air jet assemblies may be positioned within
a bumper (e.g., a displaceable and/or deformable bumper). For example, the
bumper can be
deformed, relative to its initial shape, in response to the bumper engaging
(e.g., contacting) an
obstacle. The bumper can be configured to actuate one or more switches (e.g.,
mechanical,
optical, and/or any other switch) when the bumper is displaced in response to
engaging an
obstacle. The bumper may contract such that the one or more air jet assemblies
extend beyond
the bumper. As such, at least one of the one or more air jet assemblies may be
the cleaning
element that is extended the furthest from the body of the robotic cleaner.
[0068] FIG. 14
illustrates an example of a robotic cleaner 1400 that includes a fan
assembly 1302 configured to generate a positive air pressure at one or more
air jet assemblies.
The robotic cleaner 1400 includes one or more fan outlets 1450 on an underside
1452 of a
housing 1454 of the robotic cleaner 1400. An air path extends from a secondary
air inlet (not
shown) and to the one or more fan outlets 1450. In some instances, the one or
more air jet
assemblies may include a respective one of the one or more fan outlets 1450.
The air path may
be defined by any suitable combination of rigid conduits, flexible conduits,
chambers, and/or
other features that may cooperate to direct a flow of air through the robotic
cleaner 1400.
[0069] FIGS.
15A-15B illustrate an embodiment of the robotic cleaner 1400 of FIG. 14
with an air jet assembly 1500 including a nozzle attachment 1310. A fan 1315
(shown in hidden
lines), is fixed within the housing 1454 of the robotic cleaner 1400. Air
output from the fan
1315 passes into the nozzle attachment 1310 and through a nozzle exit 1311.
Air jets (illustrated
as Arrows A and B) are generated by the air flow from each nozzle exit 1311.
The velocity,
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shape, and/or direction of air defining a respective air jet is based, at
least in part, on the size,
shape, and/or angle of the nozzle exit 1311. Different nozzle attachments, for
example, as
shown in FIGS. 9A-11B, produce air jets with different properties.
[0070] FIG. 16
illustrates an embodiment of a robotic cleaner 1600 having an air jet
assembly 1602 including a nozzle 1604. Air from a clean air exhaust duct or
fan outlet moves
through the nozzle 1604 and passes through a nozzle exit 1606, generating a
first air jet. In
some instances, the nozzle 1604 includes a secondary nozzle exit 1608
configured to generate
a second air jet. The first air jet and second air jet may be oriented such
that they cooperate to
agitate debris near walls or corners. The first and second air jet may further
cooperate to urge
the agitated debris towards a location over which an agitator chamber of the
robotic cleaner
1600 passes, allowing the collection of the debris by the robotic cleaner
1600.
[0071] FIGS.
17A and 17B illustrate an example embodiment of an air jet assembly
1700 that includes a vent 1701. The vent 1701 includes one or more louvers
1702 configured
to shape air passing therethrough into an air jet. The vent 1701 can be
coupled to a body 1750
of a robotic cleaner 1752 at a location between an upper surface 1754 and an
underside 1756
of the robotic cleaner 1752. In other words, the vent 1701 can define at least
a portion of a
sidewall 1758 of the robotic cleaner 1752, wherein the sidewall 1758 extends
substantially
(e.g., within 1 , 2 , 3 , 4 , or 5 of) perpendicular to the upper surface
1754 and the underside
1756 of the robotic cleaner 1752. In some instances, the vent 1701 may extend
perpendicular
to a surface to be cleaned.
[0072] The air
jet assembly 1700 can be fluidly coupled to an exhaust side of a suction
motor of the robotic cleaner 1752. As such, air exhausted from the suction
motor is urged
through the vent 1701. The one or more louvers 1702 can direct and/or shape
air passing
through the vent 1701, forming an air jet. For example, the one or more
louvers 1702 can be
configured to generate an air jet that urges debris into a movement path of
the robotic cleaner
1752. In some instances, one or more louvers 1702 may be configured such that
the air jet
extends forward of one or more robotic cleaner wheels 1704. Such a
configuration may reduce
and/or prevent ingress of debris into the robotic cleaner 1752 as a result of
rotational movement
of the robotic cleaner wheels 1704. As such, in some instances, the vent 1701
can generally
be described as being positioned and/or configured to mitigate or prevent
debris ingress into
the robotic cleaner 1752 as a result of rotation of the one or more robotic
cleaner wheels 1704.
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[0073] In some
instances, the one or more louvers 1702 may be articulable. For
example, the one or more louvers 1702 may be coupled to an articulation motor
configured to
articulate the one or more louvers 1702 in response to signals received from a
controller of the
robotic cleaner 1752. Additionally, or alternatively, the vent 1701 may
further include a
secondary air outlet 1703 configured to generate a secondary air jet. The
secondary air outlet
1703 may include one or more of one or more secondary louvers, a nozzle,
and/or any other
component configured to generate an air jet.
[0074] FIG. 18
is a schematic view of an example ducting system capable of being used
with a robotic cleaner 1440. FIG. 18 illustrates radial perimeter air jet
zones 1401 from which
air jets 1420 extend. The air jets 1420 agitate debris at a perimeter of the
robotic cleaner 1440.
As such, the air jets 1420 may be generally described as being a perimeter
agitator. The air jets
1420 urge debris towards a path of an agitator 1402 and an agitator chamber
1403. As the
robotic cleaner 1440 moves along the surface to be cleaned 1441, air enters
the agitator
chamber 1403, moves through a suction motor and passes through a filter (not
shown). Exhaust
air 1405 passes from the suction motor and is directed towards an exhaust vent
1404. The
exhaust air 1405 travels through an internal air path formed via a bumper duct
1406. The
bumper duct 1406 fluidly connects to the radial perimeter air jet zones 1401.
The exhaust air
1405 passes into the radial perimeter air jet zones 1401 and exits in the form
of air jets 1420
via one or more air jet assemblies 1407. These one or more air jet assemblies
1407 may include
one or more of one or more vents and/or one or more nozzles.
[0075] In the
absence of agitation along the edge of the robotic cleaner 1440, the
effective cleaning width of the robotic cleaner 1440 is the width 1432 of the
opening to the
agitator chamber 1403 disposed along an underside 1800 of the robotic cleaner
1440. In
operation, the radial perimeter air jet zones 1401 increase an effective
cleaning width 1431 of
the robotic cleaner by urging debris into the path of the agitator 1402 and
the agitator chamber
1403.
[0076] In some
instances, the robotic cleaner 1440 may include at least one air jet
assembly (including, for example, one or more of a nozzle or a vent) that
extends (or is
disposed) within a sidewall of the robotic cleaner 1440 that extends
substantially perpendicular
to the underside 1800 of the robotic cleaner 1440. For example, at least one
air jet assembly
may be configured to direct an air jet assembly in a direction of a wall or
other obstacle
positioned alongside the robotic cleaner. In this example, the air jet may be
configured to
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generate an air jet that extends in a direction of forward movement of the
robotic cleaner and
generally towards the wall or other obstacle. As such, the air jet may urge
debris deposited
along the wall or other obstacle in a direction towards a forward movement
path of the robotic
cleaner 1440.
[0077] In some
instances, the robotic cleaner 1440 may include a plurality air jet
assemblies 1407, wherein at least one air jet assembly 1407 has a
configuration that is different
from that of at least one other air jet assembly 1407. For example, at least
one air jet assembly
1407 may include a vent 1421 disposed on or in a sidewall of the robotic
cleaner 1440 and at
least one air jet assembly having a nozzle that is disposed on the underside
1800 of the robotic
cleaner 1440, wherein the air jet assemblies 1407 cooperate to urge debris
towards the agitator
chamber 1403.
[0078] In some
instances, one or more air jet assemblies 1407 may be controlled based
on environmental conditions (e.g., obstacles, floor type, and/or any other
condition). For
example, when one or more sensors of the robotic cleaner 1440 detect an
obstacle, such as a
wall, air flow may be directed to the air jet assembly 1407 closest the
obstacle.
[0079] FIG. 19
is a flow chart of one example of an algorithm for determining when to
cause one or more air jets to be generated from a respective air jet assembly
(which may
generally be referred to as engaging an air jet assembly), consistent with
embodiments of the
present disclosure.
[0080] In an
example algorithm, the robotic cleaner begins cleaning 2001 a surface
according to a cleaning mode. As the robotic cleaner moves across the surface
it operates using
baseline cleaning and navigation behavior 2002. The baseline cleaning and
navigation behavior
may include using front air jet assemblies during the cleaning process. The
front air jet
assemblies may be engaged 2003 during normal cleaning operation in order to
generate an air
jet configured to urge debris to a location under the robotic cleaner such
that the debris moves
into the path of an agitator chamber. As the robotic cleaner moves across the
surface to be
cleaned, the robotic cleaner may encounter a variety of different obstacles.
The robotic cleaner
may have a variety of different sensors including those that detect walls
2004. When a wall is
not detected 2006, the robotic cleaner determines whether to continue
operation 2016. If the
robotic cleaner determines to continue operation 2017, the robotic cleaner
resumes operating
using baseline cleaning and navigation behavior 2002. If the robotic cleaner
determines not to
continue operation 2018, the robotic cleaner ends cleaning mode 2020.
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[0081] When a
wall is detected 2005 by the robotic cleaner, a controller may then use
the available sensor data to determine if the robotic cleaner has encountered
a corner 2007.
When a corner has not been detected 2009, the robotic cleaner initiates wall
cleaning and
navigation behavior 2010. The controller redirects air flow generated by
suction motor exhaust
or fans from front air jet assemblies 2011. The redirected air flow is
directed towards a side air
jet assembly. In embodiments with multiple side air jet assemblies, the
redirected air flow is
directed towards the side air jet assembly closest to the detected wall 2012.
[0082] When a
corner has been detected 2008, the robotic cleaner initiates comer
cleaning and navigation behavior 2013. The controller redirects a portion of
air flow generated
by suction motor exhaust and/or one or more fans from front air jet assemblies
2014. The
redirected portion of air flow is directed towards a side air jet assembly. In
embodiments with
multiple side air jet assemblies, the portion of redirected air flow is
directed towards the side
air jet assembly closest to the detected wall 2015. As such, the front air jet
assemblies and side
air jet assemblies may generally be described as being configured to work
together to urge
debris out of corners, creating a wider cleaning path.
[0083] FIG. 20
shows a schematic example of a robotic cleaner 2500 having a body
2502, an agitator chamber 2504 defined in the body 2502, a suction motor 2506
fluidly coupled
to the agitator chamber 2504 and configured to cause air to flow into the
agitator chamber 2504,
and at least one air jet assembly 2508. The at least one air jet assembly 2508
can be configured
to generate an air jet 2510. The air jet 2510 is configured to urge debris
towards the agitator
chamber 2504. In some instances, there may be two or more air jet assemblies
2508, each
being configured to generate a respective air jet 2510. In this instance, the
two or more air jet
assemblies 2508 may be configured to urge debris towards the agitator chamber
2504. In
instances having two or more air jet assemblies 2508, at least one air jet
assembly 2508 may
have a configuration that is different from that of at least one other air jet
assembly 2508.
[0084] While
the air jet 2510 is shown as extending inboard, other configurations are
possible. For example, the air jet 2510 may extend outboard from the robotic
cleaner 2500
such that the air jet 2510 extends beyond a perimeter of the robotic cleaner
2500. In this
example, the air jet 2510 may be incident on a vertical surface (e.g., a wall
or other obstacle)
and the vertical surface may urge the air jet 2510 back in a direction of the
robotic cleaner 2500
(e.g., towards the agitator chamber 2504). At least a portion of any debris
adjacent the vertical
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surface may become entrained within air defining the air jet 2510 and be urged
toward the
agitator chamber 2504.
[0085] The air
jet assembly 2508 may include any combination of components
described herein including, for example, a vent and/or a nozzle, wherein the
vent and/or nozzle
is configured to generate a respective air jet 2510. The air jet assembly 2508
may be coupled
to an underside of the body 2502 and/or to a sidewall of the body 2502. For
example, when
the robotic cleaner 2500 includes two or more air jet assemblies 2508, at
least one air jet
assembly 2508 may be coupled to the sidewall of the body 2502 and at least one
other air jet
assembly 2508 may be coupled to the underside of the body 2502.
[0086] In some
instances, and as shown, the robotic cleaner 2500 may further include
an obstacle detection sensor 2512. The obstacle detection sensor 2512 may be
coupled to the
body 2502 and be configured to detect an obstacle. The obstacle detection
sensor 2512 can
output a signal to a controller 2514. The controller 2514 may be configured to
determine a
location of a detected obstacle relative to the robotic cleaner 2500 based, at
least in part, on the
signal output from the obstacle detection sensor 2512. Based, at least in
part, on the determined
location of the detected obstacle, the controller 2514 can cause an air jet
2510 to be generated
from an air jet assembly 2508 that is closest to the obstacle.
[0087] An
example of a robotic cleaner, consistent with the present disclosure, may
include a body, an agitator chamber defined in the body, a suction motor
fluidly coupled to the
agitator chamber and configured to cause air to flow into the agitator
chamber, and at least one
air jet assembly coupled to the body, the air jet assembly being configured to
generate an air
jet, the air jet being configured to urge debris toward the agitator chamber.
[0088] In some
instances, the at least one air jet assembly may be fluidly coupled to an
exhaust side of the suction motor. In some instances, the at least one air jet
assembly may
include a vent configured to generate the air jet. In some instances, the at
least one air jet
assembly may include a nozzle configured to generate the air jet. In some
instances, the at
least one air jet assembly may be coupled to a sidewall of the body that
extends between an
underside of the body and an upper surface of the body. In some instances, the
at least one air
jet assembly may include a vent. In some instances, the at least one air jet
assembly may be
disposed on an underside of the body. In some instances, the robotic cleaner
may further
include a plurality of air jet assemblies, wherein at least one air jet
assembly has a different
configuration than that of at least one other air jet assembly. In some
instances, at least one air
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jet assembly may include a vent and at least one other air jet assembly may
include a nozzle.
In some instances, at least one air jet assembly may be coupled to a sidewall
of the body that
extends between an underside of the body and an upper surface of the body and
at least one
other air jet assembly may be coupled to the underside of the body. In some
instances, the at
least one air jet assembly may be fluidly coupled to a fan.
[0089] Another
example of a robotic cleaner, consistent with the present disclosure,
may include a body, an obstacle detection sensor coupled to the body, the
obstacle detection
sensor being configured to detect an obstacle, an agitator chamber defined in
the body, a suction
motor fluidly coupled to the agitator chamber and configured to cause air to
flow into the
agitator chamber, and a plurality of air jet assemblies coupled to the body,
the plurality of air
jet assemblies each being configured to generate an air jet, each air jet
being configured to urge
debris toward the agitator chamber.
[0090] In some
instances, the plurality of air jet assemblies may be configured to
generate a respective air jet based, at least in part, on an output generated
by the obstacle
detection sensor. In some instances, at least one air jet assembly may include
a vent and at
least one other air jet assembly may include a nozzle. In some instances, at
least one air jet
assembly may be coupled to a sidewall of the body that extends between an
underside of the
body and an upper surface of the body and at least one other air jet assembly
may be coupled
to the underside of the body. In some instances, at least one air jet assembly
may be fluidly
coupled to an exhaust side of the suction motor. In some instances, at least
one air jet assembly
may be fluidly coupled to a fan. In some instances, at least one air jet
assembly may include a
vent configured to generate the air jet. In some instances, at least one air
jet assembly may
include a nozzle configured to generate the air jet. In some instances, the
plurality of air jet
assemblies may be positioned along a perimeter of the body.
[0091] While
the principles of the invention have been described herein, it is to be
understood by those skilled in the art that this description is made only by
way of example and
not as a limitation as to the scope of the invention. Other embodiments are
contemplated within
the scope of the present invention in addition to the exemplary embodiments
shown and
described herein. It will be appreciated by a person skilled in the art that a
surface cleaning
apparatus may embody any one or more of the features contained herein and that
the features
may be used in any particular combination or sub-combination. Modifications
and substitutions
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by one of ordinary skill in the art are considered to be within the scope of
the present invention,
which is not to be limited except by the claims.
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